Automatic polishing equipment and method thereof

Abstract

The invention discloses automatic polishing equipment and a method thereof.The automatic polishing equipment comprises a workpiece loading unit which is provided with at least one workpiece loading position used for loading a workpiece, and the workpiece loading position is provided with a window part allowing a to-be-polished area of the workpiece to be exposed outside; one end of the conveying unit is provided with a receiving position used for receiving the workpiece loading units, the other end of the conveying unit is provided with a picking position used for allowing a picking unit to pick up the workpiece loading units, and the conveying unit conveys the workpiece loading units at the receiving position to the picking position; the polishing unit is provided with a polishing part for grinding and polishing the to-be-polished area exposed at the window part; the picking unit is configured to be used for picking the workpiece loading unit at the picking position and transferring the workpiece loading unit to the polishing unit, and is used for picking the workpiece loading unit at the polishing unit and transferring the workpiece loading unit to a target position; and the control unit is used for receiving and processing data from each unit and scheduling each unit to work.

Description

Technical Field

[0001] The invention relates to the technical field of polishing, and in particular to an automatic polishing device and a method thereof. Background Art

[0002] In the field of workpiece polishing, there are many polishing methods, such as manual polishing, robot grinding and polishing, fluid polishing, etc. Manual polishing, as the most primitive polishing method, is suitable for the grinding and polishing of a single or a few products. It has low efficiency and high labor costs. Robot polishing can only polish a single product at the same time, and there are problems of low efficiency and high production costs. The fluid polishing method has the problem of small single clamping volume and long processing time, and the production efficiency cannot be improved. Moreover, the degree of automation of each of the above-mentioned polishing methods is low. In addition, for semi-enclosed workpieces with inner cavities, it is easy to cause edge collapse due to excessive removal. Therefore, how to improve the efficiency of the polishing process and realize a series of automated processes such as workpiece loading, transmission, polishing, and unloading has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide an automatic polishing device and method for improving production efficiency.

[0004] In order to solve the above technical problems, a technical solution adopted by the present invention is: providing an automatic polishing device, comprising:

[0005] A workpiece loading unit, which has at least one workpiece loading position for loading a workpiece, wherein the workpiece loading position has a window portion for exposing a region to be polished of the workpiece to the outside;

[0006] A transmission unit, one end of which is configured with a receiving position for receiving the workpiece loading unit, and the other end of which is configured with a picking position for a picking unit to pick up the workpiece loading unit, and the transmission unit transports the workpiece loading unit at the receiving position to the picking position;

[0007] A polishing unit having a polishing portion for grinding and polishing the area to be polished exposed at the window portion;

[0008] a picking unit configured to pick up the workpiece loading unit at the picking position and transfer it to the polishing unit, and to pick up the workpiece loading unit at the polishing unit and transfer it to a destination position; and

[0009] The control unit is configured to be electrically connected to the transmission unit, the polishing unit and the picking unit, and is used to receive and process data from each unit and schedule each unit to work, so as to realize the transmission, picking, polishing and unloading of the workpiece.

[0010] Further, the workpiece loading position is configured as a loading slot for loading at least one workpiece, and the window portion is formed on the bottom surface of the loading slot and passes through the workpiece loading unit;

[0011] The area to be polished of the workpiece includes a first surface to be polished. When the workpiece is loaded into the workpiece loading slot, the first surface to be polished is exposed outside the workpiece loading unit through the window portion; when the workpiece loading unit is placed at the polishing unit, the window portion faces the polishing portion, and the first surface to be polished contacts the polishing portion through the window portion.

[0012] Furthermore, the area to be polished of the workpiece further includes a second surface to be polished disposed opposite to the first surface to be polished; and the automatic polishing device further includes:

[0013] A transfer area, in which a spare workpiece loading unit is placed, and the spare workpiece loading unit is used to be inverted on the top of the workpiece loading unit;

[0014] A flipping unit, which is configured to flip the spare workpiece loading unit and the workpiece loading unit that are buckled together by 180 degrees, so that the spare workpiece loading unit and the workpiece loading unit are interchangeable, and the spare workpiece loading unit is flipped to the bottom of the workpiece loading unit, so that the workpiece in the workpiece loading unit is flipped by 180 degrees and then falls into the loading slot of the spare workpiece loading unit; at this time, the identities of the spare workpiece loading unit and the workpiece loading unit are interchanged, and the workpiece loading unit located above is regarded as the spare workpiece loading unit;

[0015] The picking unit is also used to transfer the workpiece loading unit to the flip unit after the first surface to be polished of the workpiece is polished, transfer the spare workpiece loading unit in the transfer area and snap it onto the top of the workpiece loading unit, transfer the spare workpiece loading unit located on the top after flipping to the transfer area, and transfer the workpiece loading unit loaded with the workpiece located on the bottom after flipping to the polishing unit;

[0016] The polishing unit is also used to polish the second surface to be polished that has not been polished.

[0017] Furthermore, it also includes:

[0018] A counterweight pressing block, which is configured to press the workpiece loading unit against the polishing portion and restrict it from rotating with the polishing portion when the workpiece loading unit is placed at the polishing portion of the polishing unit, and the counterweight pressing block is placed in the transfer area when idle; the counterweight pressing block includes:

[0019] A pressing block body having a pressing surface for pressing the workpiece loading unit;

[0020] a limiting convex portion, which is configured to be arranged at a position on the holding surface corresponding to the loading slot, and when the pressing block body is pressed on the workpiece loading unit, the limiting convex portion can extend into the loading slot from the notch of the loading slot, and cooperate with the side wall of the loading slot to prevent the workpiece loading unit from rotating with the polishing part; and

[0021] The self-limiting portion is used to be positioned at the polishing portion under the limitation of the polishing unit to prevent the counterweight pressing block from rotating with the polishing portion.

[0022] Furthermore, the self-limiting portion is configured as a limiting rod provided on the pressing block body; and the polishing unit has a retaining portion capable of retaining at the limiting rod.

[0023] Further, the workpiece has an inner cavity, the inner cavity penetrates the workpiece along the length direction of the workpiece, the inner cavity also penetrates a side surface of the workpiece along the width direction of the workpiece so that the workpiece has a side opening, and the workpiece also has a through hole penetrating along its height direction; the automatic polishing device also includes a workpiece carrier, and the workpiece carrier includes:

[0024] A carrier block having a loading portion, wherein the workpiece is sleeved on the loading portion through the side opening;

[0025] a locking hole, which is configured to be coaxially arranged with the through hole and penetrate the loading portion along the height direction of the loading portion;

[0026] A first positioning hole is configured to be disposed on a side of the carrier block away from the workpiece along a width direction of the loading portion and connected to the locking hole;

[0027] a plug block, which is configured to penetrate the locking hole and the through hole along the height direction of the loading portion, the plug block having a second positioning hole arranged along the width direction of the loading portion, and when the plug block is placed in the locking hole, the first positioning hole and the second positioning hole are coaxially connected; and

[0028] The locking block is configured to be movably arranged on a side of the carrier block away from the workpiece, and the locking block has a first positioning column that can be movably inserted into the first positioning hole and the second positioning hole.

[0029] Furthermore, the workpiece carrier further comprises:

[0030] A first hole is distributed on the carrier block in a manner parallel to and spaced from the first positioning hole, the first hole penetrating a side surface of the carrier block toward the locking block along a width direction of the loading portion; and

[0031] The column is arranged on the locking block in a matching manner with the first hole, and is used for being movably inserted into the first hole.

[0032] Furthermore, the carrier block is configured to be made of a material that can be magnetically attracted, and the workpiece carrier further includes:

[0033] a second hole, distributed on the carrier block in a manner parallel to and spaced apart from the first positioning hole, the second hole penetrating a side surface of the carrier block toward the locking block along a width direction of the loading portion; and

[0034] The magnetic attraction portion is arranged on the locking block in a matching manner with the second hole, and is used for being movably inserted into the second hole and magnetically attracting the carrier block to prevent the locking block from being separated from the carrier block in a working state.

[0035] Furthermore, the transmission unit is provided with a transmission pallet, and the transmission pallet is configured to carry the workpiece loading unit; the receiving position and the picking position are both provided with:

[0036] a detection unit configured to detect whether the transmission pallet is located at a corresponding receiving position or picking position;

[0037] A lifting unit, which is configured to lift the transmission pallet upward to make it suspended on the transmission unit when the transmission pallet is located at the corresponding receiving position or picking position, and the lifting unit is further configured to descend based on a corresponding control instruction sent by the control unit to return the transmission pallet to the transmission unit;

[0038] The transport unit is further configured to transport the transport pallet carrying the workpiece loading unit to a picking position, and to transport the empty transport pallet at the picking position to the receiving position.

[0039] In order to solve the above technical problems, another technical solution adopted by the present invention is to provide an automatic polishing method, comprising the following steps:

[0040] Workpiece transfer: transfer the workpiece loading unit loaded with workpieces at the receiving position of the transfer unit to the picking position;

[0041] Workpiece picking and transfer: when the workpiece loading unit is transferred to the picking position, the workpiece loading unit is picked up and transferred to the polishing unit;

[0042] Workpiece polishing: the polishing part of the polishing unit grinds and polishes the area to be polished of the workpiece;

[0043] Workpiece unloading, pick up the workpiece polished by the polishing unit and transfer it to the destination.

[0044] The automatic polishing equipment and automatic polishing method of the present invention have the following beneficial effects: (1) Through the configured transmission mechanism, picking unit, polishing unit and control unit, the control unit is connected with each controlled unit signal, receives signals from each controlled unit, and dispatches each controlled unit to work together, so as to realize the automated process of the workpiece from loading, transferring, polishing and unloading. (2) Through a special workpiece carrier, it is configured with a loading part that imitates the inner cavity of the workpiece, and the inner surface of the workpiece is attached to the loading part, eliminating the problems of edge collapse and deformation caused by excessive grinding removal. (3) The special workpiece carrier is designed with a lock hole based on the original hole position of the workpiece. By inserting a plug block in the lock hole and the through hole along the height direction, the horizontal limit of the workpiece can be achieved to prevent the workpiece from detaching from the loading part. (iv) The specially made workpiece carrier is provided with a first coaxial positioning hole and a second coaxial positioning hole on the plug block and the carrier block, and a locking block is provided. A first positioning column that is laterally provided in the first positioning hole and the second positioning hole is provided on the locking block to prevent the plug block from withdrawing from the carrier block along the height direction. (v) The locking block is magnetically attracted to the carrier block by a magnetic attraction member to prevent the locking block from being separated from the carrier block, the plug block from being separated from the carrier block, and the workpiece from being separated from the carrier block during operation. (vi) The workpiece loading unit is provided with a plurality of loading slots, each of which can load two workpiece carriers. The structure of each loading slot is arranged corresponding to the workpiece carrier, so that after the workpiece carrier is loaded in the loading slot, the first surface to be polished or the second surface to be polished can be exposed outside the workpiece loading unit through the window portion at the bottom of the slot, so that the corresponding surface to be polished can contact the polishing portion. (vii) There is no need to provide a blocking portion on the slot surface of the loading slot, so that the operator can quickly place the workpiece carrier in the loading slot. (VIII) After one of the surfaces to be polished is completed, the spare workpiece loading unit is engaged with the workpiece loading unit and flipped 180 degrees, so that the other surface to be polished faces the window portion of the bottom surface of the groove, so that the other surface to be polished contacts the polishing portion through the window portion, thereby achieving grinding and polishing of multiple surfaces to be polished. Compared with the traditional polishing method, it has a high degree of automation, can achieve simultaneous polishing of multiple workpieces at one time, prevents the collapse and deformation of the workpiece edge, and improves the yield rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0046] Figure 1 It is a structural schematic diagram of an automatic polishing machine according to an embodiment of the present invention.

[0047] Figure 2It is a schematic diagram of the assembly of a workpiece and a workpiece loading unit in one embodiment of the automatic polishing machine of the present invention.

[0048] Figure 3 yes Figure 2 Exploded view of the workpiece and the workpiece loading unit.

[0049] Figure 4 yes Figure 3 Exploded view of one of the workpieces and the workpiece carrier.

[0050] Figure 5 yes Figure 4 Schematic diagram of the structure of the middle load block.

[0051] Figure 6 yes Figure 1 Schematic diagram of the structure of the transmission unit.

[0052] Figure 7 yes Figure 1 Schematic diagram of the structure of the picking unit.

[0053] Figure 8 yes Figure 1 Schematic diagram of the structure of the polishing unit.

[0054] Fig. 9 yes Figure 8 Schematic diagram of the structure of the middle counterweight block.

[0055] Fig.10 yes Figure 8 Schematic diagram of the structure of the center counterweight block from another perspective.

[0056] Fig.11 yes Figure 1 Enlarged view of part B in the middle.

[0057] Fig.12 It is a flow chart of an embodiment of the automatic polishing method of the present invention.

[0058] Fig.13 It is a sub-flow chart of the workpiece transmission step in one embodiment of the automatic polishing method of the present invention.

[0059] Fig.14 It is a sub-flow chart before workpiece polishing in one embodiment of the automatic polishing method of the present invention.

[0060] Fig.15 It is a sub-flow chart of the workpiece polishing step in one embodiment of the automatic polishing method of the present invention.

[0061] The accompanying drawings in the specification are numeraled as follows:

[0062] Workpiece A; inner cavity A10; through hole A20; first wall A301; first surface to be polished A3011; second wall A302; second surface to be polished A3021; ​​third wall A303;

[0063] Workpiece carrier C; carrier block C10; loading portion C11; first concave surface C111; second concave surface C112; third concave surface C113; limiting surface C114; locking hole C12; supporting block C13; first positioning hole C14; first hole C15; second hole C16; plug block C20; second positioning hole C21; locking block C30; first positioning column C31; column C32; magnetic attraction portion C33;

[0064] Workpiece loading unit 100; spare workpiece loading unit 100'; window portion 110; loading slot 120; loading area 121; carrying surface 122; loading plate 130; first surface 131;

[0065] Transmission unit 200; receiving position 210; picking position 220; frame 230; transmission belt assembly 240; detection unit 250;

[0066] Polishing unit 300; polishing part 310; positioning mechanism 320; blocking part 321; driving unit 322; second mounting part 323; counterweight pressing block 330; pressing block body 331; pressing surface 331a; limiting convex part 332; self-limiting part 333; pressing surface 331a; second rod part 333b; rotating wheel 340;

[0067] Picking unit 400; first picking part 410; suction head 411; manipulator 420; mounting frame 430; first mounting part 431; third mounting part 432; connecting part 433; second picking part 440; cylinder 441; fixed claw 442; movable claw 443; fulcrum 444;

[0068] Transfer area 510; turning unit 520; platform 521; turning part 522; vertical rotation driving part 522a; clamping part 522b; lifting platform 523;

[0069] Loading position 610; unloading position 620. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0071] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0072] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0073] See also Figure 1 , Figure 1 The structure diagram of an automatic polishing device according to the present invention is shown. Figure 1 In the illustrated embodiment, the automatic polishing equipment of the present invention includes a workpiece loading unit 100 for loading a workpiece A, a transmission unit 200 for transmitting the workpiece loading unit 100 to a picking position 220, a polishing unit 300 for grinding and polishing the workpiece A loaded in the workpiece loading unit 100, a picking unit 400 for picking up the workpiece loading unit 100 and transferring it to a desired position, and a control unit (not shown) electrically connected to the workpiece loading unit 100, the transmission unit 200, the polishing unit 300 and the picking unit 400, wherein the control unit is used to receive and process data from each unit and schedule the work of each unit to realize automatic transmission, picking, transfer, polishing and unloading of the workpiece A.

[0074] The workpiece loading unit 100 is configured to have at least one workpiece loading position for loading a workpiece A, and the workpiece loading position has a window portion 110 for exposing the area to be polished of the workpiece A to the outside; the workpiece loading position is configured to have a loading slot 120 for loading at least one workpiece A, and the window portion 110 is formed on the bottom surface of the loading slot 120 and passes through the workpiece loading unit 100.

[0075] See also Figure 2 and Figure 3 , Figure 2 Schematic diagram of the structure of a workpiece loading unit 100 according to an embodiment of the present invention. Figure 3 yes Figure 2 The workpiece loading unit 100 includes a plurality of loading slots 120, such as Figure 2 The workpiece loading unit 100 may be configured as a disc-shaped structure, and the plurality of loading slots 120 are distributed in a circular array with the center of the workpiece loading unit 100 as the center.

[0076] Those skilled in the art can understand that the workpiece loading unit 100 is configured based on the specific shape of the workpiece A and the number of workpieces A to be polished each time required by the specific polishing process. For example, in one embodiment, if eight workpieces A are required to be polished at the same time each time, the workpiece loading unit 100 can be configured to load eight workpieces A at the same time. For example, in one embodiment, if two back-to-back surfaces of the workpiece A need to be polished, the workpiece loading unit 100 can be configured to expose the two back-to-back areas to be polished of the workpiece A outside the workpiece A, so that the polishing part 310 of the polishing unit 300 can polish the two front and back areas to be polished of the workpiece A. Therefore, Figure 2 The structure of the workpiece loading unit 100 shown does not constitute a limitation on the structure of the workpiece loading unit 100, and may include Figure 2 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0077] See also Figure 4 , Figure 4 1 is a disassembled view of a workpiece and a workpiece carrier in one embodiment of the present invention. Figure 4 In the illustrated embodiment, the workpiece A is configured to have a C-shaped cross-section, including a C-shaped wall and an inner cavity A10 formed inside the wall, wherein the inner cavity A10 penetrates the workpiece A along the length direction of the workpiece A, and the inner cavity A10 also penetrates a side surface of the workpiece A along the width direction of the workpiece A so that the workpiece A has a side opening, and the workpiece A also has a through hole A20 penetrating along its height direction. The wall has a first wall A301, a second wall A302 opposite to the first wall A301, and a third wall A303 connected between the same side surfaces of the first wall A301 and the second wall A302, the first wall A301 and the second wall A302 can both be configured to have a certain curvature, the third wall A303 can be configured to be vertically connected between the first wall A301 and the second wall A302 and have a certain curvature, and the curvature of the third wall A303 can be greater than the curvature of the first wall A301 and / or the second wall A302. Figure 4 In the state shown, the distribution direction of the first wall A301 and the second wall A302 is defined as the height direction of the workpiece A, that is, the first wall A301 and the second wall A302 are distributed along the height direction of the workpiece A, and correspondingly, the through hole A20 penetrates the first wall A301 and the second wall A302 along the height direction of the workpiece A. The inner cavity A10 is formed by enclosing the first wall A301, the second wall A302 and the third wall A303.

[0078] Figure 4In the illustrated embodiment, the area to be polished of the workpiece A includes a first surface to be polished A3011 and a second surface to be polished A3021 disposed opposite to the first surface to be polished A3011. That is, a side of the first wall A301 that is away from the second wall A302 is configured as the first surface to be polished A3011, and a side of the second wall A302 that is away from the first wall A301 is configured as the second surface to be polished A3021. When the workpiece A is loaded into the workpiece loading slot 120, the first surface to be polished A3011 is exposed to the outside of the workpiece loading unit 100 through the window portion 110, and the second polishing surface is exposed to the outside of the workpiece loading unit 100 through the notch of the loading slot 120. When the workpiece loading unit 100 is placed at the polishing unit 300, the window portion 110 faces the polishing portion 310, and the first surface to be polished A3011 contacts the polishing portion 310 through the window portion 110. When polishing the workpiece A, the first surface A3011 to be polished needs to be brought into contact with the polishing unit 310 so that the first surface A3011 to be polished is ground and polished. When the first surface A3011 to be polished is polished, the workpiece A is turned over so that the second surface A3021 to be polished is brought into contact with the polishing unit 310 so that the polishing unit 310 is ground and polished. Those skilled in the art will understand that Figure 4 The shape of the workpiece A and the description of the area to be polished are an exemplary description, therefore, Figure 4 The structure of the workpiece A shown does not limit the present invention.

[0079] Depend on Figure 4 It can be seen that the workpiece A is a thin-walled workpiece with an inner cavity A10. Figure 4 When the workpiece A shown is being polished, the force applied by the polishing part 310 to the polishing area of ​​the workpiece A may deform the wall of the workpiece A, causing problems such as the edge collapse of the workpiece A, and reducing the workpiece yield. In order to prevent the workpiece A from deforming when the workpiece A is being polished, a workpiece carrier C is provided for each workpiece A to support and fix the workpiece A to prevent the workpiece A from deforming and edge collapse during the polishing process. The workpiece carrier C includes a carrier block C10, a plug block C20, and a locking block C30. Among them:

[0080] See also Figure 5The carrier block C10 has a loading portion C11, and the workpiece A is inserted into the loading portion C11 through the side opening. The loading portion C11 is formed on one lateral side of the carrier block C10, and the other lateral side of the carrier block C10 is used to assemble the locking block C30. The loading portion C11 has a first concave surface C111 that is contoured to the inner side surface of the first wall A301, a second concave surface C112 that is contoured to the inner side surface of the second wall A302, and a third concave surface C113 that is contoured to the inner side surface of the third wall A303. The first concave surface C111, the second concave surface C112, and the third concave surface C113 are recessed compared to other portions of the carrier block C10, so that the entire loading portion C11 is in the shape of a groove recessed in the surface of the carrier block C10. A step-shaped limiting surface C114 is formed between the first concave surface C111, the second concave surface C112, and the third concave surface C113 and the corresponding surfaces of the carrier block C10. When the workpiece A is sleeved on the loading portion C11, the limiting surface C114 is used to limit the movement of the workpiece A.

[0081] A locking hole C12 is provided at the position of the carrier C10 corresponding to the through hole A20 of the workpiece A, and the locking hole C12 penetrates the loading part C11 along the height direction of the loading part C11. When the workpiece A is sleeved on the loading part C11, the locking hole C12 is coaxially arranged with the through hole A20. Two support blocks C13 are provided at both ends of the carrier C10, and the two support blocks C13 are formed on both sides of the carrier C10 in the lateral direction, and the height (thickness) of the support block C13 is less than the height of the carrier C10, so that the lower surface of the support block C13 is higher than the lower surface of the carrier C10, and the upper surface of the support block C13 is lower than the upper surface of the carrier C10. It can be understood by those skilled in the art that the number of the support blocks C13 is not limited to the above two, and the support block C13 is used to abut against the bottom surface of the loading slot 120 when the carrier C10 is placed in the loading slot 120 of the workpiece loading unit 100.

[0082] The carrier C10 is provided with a first positioning hole C14, which is configured to be provided on a side of the carrier C10 away from the workpiece A along the width direction of the loading portion C11 (also the width direction of the carrier C10) and connected to the locking hole C12. The carrier C10 is also provided with two first holes C15 and two second holes C16. The two first holes C15 are distributed on the carrier C10 in a manner parallel to the first positioning holes C14 and spaced apart from each other, and the two first holes C15 both penetrate one side of the carrier C10 facing the locking block C30 along the width direction of the loading portion C11. The two second holes C16 are distributed on the carrier C10 in a manner parallel to the first positioning holes C14 and spaced apart from each other, and the two second holes C16 penetrate one side of the carrier C10 facing the locking block C30 along the width direction of the loading portion C11. Those skilled in the art will appreciate that the number of the first hole C15 and the second hole C16 is not limited to two, and they can be one or more. The first hole C15 is configured as a guide positioning hole, which is used to guide and stabilize the lock block C30 when the lock block C30 is inserted. The second hole C16 is configured as a magnetic suction portion accommodating hole, which is used to accommodate the magnetic suction portion (described in detail below) on the lock block C30 when the lock block C30 is inserted, so as to prevent the lock block C30 from detaching from the carrier block C10. It can be seen that the role of the first hole C15 and the second hole C16 is to solve the basic technical problem of the present invention, and they are more preferred features. They are optional and not necessary.

[0083] The plug block C20 is configured to penetrate the locking hole C12 and the through hole A20 of the workpiece A along the height direction of the loading part C11, and the plug block C20 has a second positioning hole C21 set along the width direction of the loading part C11. When the plug block C20 is placed in the locking hole C12, the first positioning hole C14 and the second positioning hole C21 are coaxially connected.

[0084] The locking block C30 is configured to be movably arranged on a side of the carrier C10 away from the workpiece A, and the locking block C30 has a first positioning column C31 that can be movably inserted into the first positioning hole C14 and the second positioning hole C21. A column C32 is arranged on the side of the locking block C30 facing the carrier C10, and the column C32 is arranged on the locking block C30 in a manner matching the first hole C15, and is used to be movably inserted into the first hole C15. A magnetic attraction portion C33 is also arranged on the side of the locking block C30 facing the carrier C10, and the magnetic attraction portion C33 can be columnar or block-shaped. The magnetic attraction portion C33 is arranged on the locking block C30 in a manner matching the second hole C16, and is used to be movably inserted into the second hole C16 and magnetically attract the carrier C10 (the carrier C10 is made of a material that can be magnetically attracted), so as to prevent the locking block C30 from detaching from the carrier C10 in the working state.

[0085] Please continue to see Figure 2 The workpiece loading unit 100 includes a loading tray 130 and a plurality of loading slots 120 arranged in an annular manner on the loading tray 130. The loading slots 120 penetrate the first surface 131 ( Figure 2 The upper surface of the loading tray 130 is formed by forming a notch of the loading slot 120, and a partial area (middle area) of the bottom surface of the loading slot 120 penetrates the second surface ( Figure 2 the lower surface in the middle).

[0086] Each loading slot 120 is configured to load a pair of workpiece carriers C. Since the workpiece carriers C are in a relatively regular rectangular structure, the loading slot 120 is configured as a rectangular slot that can simultaneously load two workpiece carriers C. The two workpiece carriers C can be loaded into the loading slot 120 at intervals (e.g., side by side). When the two workpiece carriers C are loaded into the loading slot 120, the two workpieces A are located at two adjacent sides of the two workpiece carriers C, respectively.

[0087] Each loading slot 120 is divided into two workpiece loading areas 121. Except for the corner positions, the rest of the slot bottom surface corresponding to each loading area 121 is formed to penetrate the workpiece loading unit 100 along the height direction to form the window portion 110. The plane size and position of the slot bottom surface at the corners of each loading area 121 correspond to the support blocks C13 at both ends of the above-mentioned carrier C10, forming four bearing surfaces 122 corresponding to the number and position of the support blocks C13 of the carrier C10. When the workpiece carrier C is placed in the loading area 121 of the loading slot 120, the support blocks C13 at both ends of the carrier C10 are placed on the bearing surface 122 at the corner. It can be understood by those skilled in the art that the position and number of the bearing surface 122 and the number and position of the support blocks C13 can be determined according to the requirements of different implementation methods, and are usually set at the edge or corner position.

[0088] In this embodiment, in order to facilitate the rapid loading and unloading of the workpiece carrier C10, the slot surface of the loading slot 120 does not need to be provided with any stopper, and only the above-mentioned bearing surface 122 is provided on the bottom surface of the slot. Since the workpiece A in this embodiment has two surfaces to be polished, when polishing one of the surfaces to be polished is completed, the workpiece needs to be flipped 180 degrees so that the polishing unit 300 can grind and polish the other surface to be polished. If the slot surface of the loading slot 120 is not provided with any stopper, the workpiece A will inevitably detach from the loading slot 120 when flipping. Based on this, the automatic polishing equipment of this embodiment is also equipped with a transfer area 510 and a flip unit 520, and a spare workpiece loading unit 100' is placed on the transfer area 510, and the spare workpiece loading unit 100' is used to be inverted on top of the workpiece loading unit 100.

[0089] The various units of the embodiments of the present invention are described below in conjunction with the accompanying drawings.

[0090] See also Figure 6 The transmission unit 200 shown includes a frame 230 and a conveyor belt assembly 240 disposed on the frame 230. One end of the conveyor belt assembly 240 is configured with a receiving position 210 for receiving the workpiece loading unit 100, and the other end is configured with a picking position 220 for the picking unit 400 to pick up the workpiece loading unit 100. The transmission unit 200 transports the workpiece loading unit 100 at the receiving position 210 to the picking position 220. A loading position 610 may be configured next to the receiving position 210. The loading position 610 may be a loading platform. The operator first manually assembles the workpiece A on the workpiece carrier C, and then places the workpiece carriers C one by one at the workpiece loading position of the workpiece loading unit 100, and then places the workpiece loading unit 100 at the receiving position 210.

[0091] The receiving position 210 and the picking position 220 are both provided with a detection unit 250 and a lifting unit (not shown). The detection unit 250 at the receiving position 210 is used to detect whether the transmission pallet is located at the receiving position 210, and send the detected arrival signal to the control unit, and the control unit sends a lifting signal to the lifting unit at the receiving position 210 based on the arrival signal of the transmission pallet, and the lifting unit at the receiving position 210 is used to lift the transmission pallet upward to make it suspended on the transmission unit 200 after receiving the lifting signal (that is, after the transmission pallet is located at the receiving position 210). When the workpiece A is loaded on the transmission pallet, the operator can press a button to send a control command to lower the lifting unit, and the lifting unit is lowered based on the control command, so that the transmission pallet is returned to the conveyor belt assembly 240 of the transmission unit 200. The detection unit 250 at the picking position 220 is used to detect whether the transmission pallet is located at the picking position 220, and sends the detected arrival signal to the control unit, and the control unit sends a lifting signal to the lifting unit at the picking position 220 based on the arrival signal of the transmission pallet. After receiving the lifting signal, the lifting unit at the picking position 220 is used to lift the transmission pallet upward to make it suspended on the transmission unit 200. When the workpiece loading unit 100 is picked up, the operator can press the corresponding button to make the transmission unit 200 transfer the transmission pallet to the receiving position 210.

[0092] See also Figure 7 , the picking unit 400 is configured to pick up the workpiece loading unit 100 at the picking position 220 and transfer it to the polishing unit 300, and to pick up the workpiece loading unit 100 after polishing at the polishing unit 300 and transfer it to the destination position. The destination position can be configured as a material unloading position 620 or a storage position. In the scheme of polishing the front and back sides of the workpiece A described above, the picking unit 400 is also used to transfer the workpiece loading unit 100 to the flipping unit 520 after the first surface A3011 to be polished of the workpiece A is polished, transfer the spare workpiece loading unit 100' of the transfer area 510 and snap it onto the top of the workpiece loading unit 100, transfer the spare workpiece loading unit 100' located at the top after flipping to the transfer area 510, and transfer the workpiece loading unit 100 loaded with the workpiece A located at the bottom after flipping to the polishing unit 300.

[0093] The pick-up unit 400 may be configured to include a first pick-up portion 410 and a manipulator 420 (or a three-axis moving module), wherein the first pick-up portion 410 is mounted at the end of the manipulator 420 or the output end of the three-axis moving module. The first pick-up portion 410 may be configured to adsorb the surface of the workpiece loading unit 100 by adsorption, wherein the first pick-up portion 410 includes a plurality of adsorption heads 411, which are mounted at a first mounting portion 431, and the first mounting portion 431 is connected to the manipulator 420 or the three-axis moving module.

[0094] See also Figure 8 The polishing unit 300 has a polishing part 310 for polishing the area to be polished exposed at the window part 110, and the polishing part 310 is configured as a rotating polishing table, and the workpiece loading unit 100 is placed on the polishing table. The polishing unit 300 can adopt any known polishing table structure that can polish the surface of the workpiece A.

[0095] In this embodiment, in order to prevent the workpiece loading unit 100 from rotating along with the rotation of the grinding table, a positioning mechanism 320 is provided on the periphery of the grinding table. In order to cooperate with the positioning mechanism 320 to position the workpiece loading unit 100, the present embodiment further includes a counterweight block 330. The counterweight block 330 is configured to press the workpiece loading unit 100 against the polishing section 310 (grinding table) of the polishing unit 300 and restrict it from rotating along with the polishing section 310 when the workpiece loading unit 100 is placed. The counterweight block 330 is placed in the transfer area 510 when idle.

[0096] See also Fig. 9 and Fig.10 The counterweight block 330 includes a block body 331, a limiting protrusion 332 and a self-limiting portion 333. The block body 331 is a cylindrical structure, and its plane shape is compatible with the workpiece loading unit 100. The block body 331 is provided with a plurality of weight-reducing holes, and the block body 331 has a holding surface 331a (the lower surface in the figure) for holding the workpiece loading unit 100; the holding surface 331a is provided with a second positioning column or a third positioning hole for positioning and cooperating with the workpiece loading unit 100, and correspondingly, the workpiece loading unit 100 is provided with a third positioning hole or a second positioning column.

[0097] The limiting convex part 332 is configured to be arranged at the position of the pressing surface 331a corresponding to the loading slot 120. When the pressing block body 331 is pressed on the workpiece loading unit 100, the limiting convex part 332 can extend into the loading slot 120 from the notch of the loading slot 120, and cooperate with the side wall of the loading slot 120 to prevent the workpiece loading unit 100 from rotating with the polishing part 310. Specifically, the limiting convex part 332 corresponds to the position of the loading area 121 of the loading slot 120 one by one, and is a semi-frame structure, and its outer side is embedded in the loading area 121 and abuts against each side wall of the loading slot 120.

[0098] The self-limiting portion 333 is used to be positioned at the polishing portion 310 under the restriction of the polishing unit 300, so as to prevent the counterweight pressing block 330 from rotating with the polishing portion 310. The self-limiting portion 333 can be configured as a limiting rod provided on the pressing block body 331. Preferably, the limiting rod is L-shaped, and has a first rod portion 333a vertically provided on the pressing block body 331 and connected to a side surface away from the holding surface 331a, and a second rod portion 333b (used as a picked-up portion described below) bent from the first rod portion 333a, and the second rod portion 333b can protrude outwardly from the outer side of the pressing block body 331 along the radial direction of the pressing block body 331.

[0099] In this embodiment, the limiting rod also serves as a picked-up part for the picking-up unit 400 to pick up and is clamped by the picking-up unit 400. Under this function, the limiting rod needs to be configured as multiple, for example, four, to ensure that the counterweight pressing block 330 is stably picked up and transferred.

[0100] The positioning mechanism 320 includes a retaining portion 321 capable of retaining at the limiting rod (from the limiting portion 333), the retaining portion 321 is controlled by a driving unit 322 to extend and return toward the limiting rod, and is used to retain one side of the limiting rod along the rotation direction, and limit the counterweight pressing block 330 from rotating with the polishing part 310, and the limiting convex portion 332 of the counterweight pressing block 330 limits the workpiece loading unit 100 from rotating with the polishing part 310. The driving unit 322 is disposed on a second mounting portion 323, and the second mounting portion 323 is further provided with a rotating wheel 340 that is rotatably matched with the outer circumference of the counterweight pressing block 330.

[0101] Please continue to see Figure 7The counterweight block 330 can be picked up and transferred by the picking unit 400. The picking unit 400 is also used to transfer the counterweight block 330 from the transfer area 510 to the workpiece loading unit 100, and is also used to transfer the counterweight block 330 from the polishing section 310 to the transfer area 510 after polishing is completed. To this end, the picking unit 400 is also configured with a second picking part 440, and the second picking part 440 is installed at a third mounting part 432. The third mounting part 432 and the first mounting part 431 mentioned above are connected through a connecting part 433 to form a mounting frame 430. The mounting frame 430 is connected to the end of the manipulator 420. The manipulator 420 can flip the mounting frame 430. When picking up the counterweight block 330, the second picking part 440 is directed toward the counterweight block 330. When picking up the workpiece loading unit 100, the first picking part 410 is directed toward the workpiece loading unit 100.

[0102] The second picking portion 440 is configured to include a plurality of clamping claw units (such as pneumatic clamping claws) arranged corresponding to the plurality of limiting rods, and each clamping claw unit includes a cylinder 441 arranged on the third mounting portion 432 and a clamping claw arranged on a side of the third mounting portion 432 facing the limiting rod. The output end of the cylinder 441 passes through the third mounting portion 432 to face the limiting rod. The clamping claw includes a fixed claw 442 and a movable claw 443, the fixed claw 442 is fixedly arranged on a side of the third mounting portion 432 facing the limiting rod, one end of the movable claw 443 is connected to the output end of the cylinder 441, and a fulcrum 444 is also arranged on the third mounting portion 432 corresponding to the middle of the movable claw 443, and the other end of the movable claw 443 cooperates with the fixed claw 442 under the action of the fulcrum 444 to be in a clamping state and a loosening state. When clamping the limiting rod, the second rod portion 333 b is inserted between the fixed claw 442 and the movable claw 443 , and the movable claw 443 is driven to move toward the fixed claw 442 to clamp the second rod portion 333 b .

[0103] See also Fig.11The flipping unit 520 is configured to flip the spare workpiece loading unit 100' and the workpiece loading unit 100 that are snapped together by 180 degrees, so that the spare workpiece loading unit 100' and the workpiece loading unit 100 are interchangeable, and the spare workpiece loading unit 100' is flipped to the bottom of the workpiece loading unit 100, so that the workpiece A in the workpiece loading unit 100 is flipped to 180 degrees and falls into the loading slot 120 of the spare workpiece loading unit 100'; at this time, the identities of the spare workpiece loading unit 100' and the workpiece loading unit 100 are interchanged, and the workpiece loading unit 100 located above is regarded as the spare workpiece loading unit 100'; the polishing unit 300 is also used to polish the second surface to be polished A3021 that has not been polished.

[0104] The flip unit 520 includes two flip parts 522 disposed on a platform 521 and a lifting platform 523 located between the two flip parts 522. The two flip parts 522 can be configured to have the same structure and function, for example, both include a vertical rotation drive part 522a and a clamping part 522b connected to the output end of the vertical rotation drive part 522a. The two flip parts 522 can also be configured as an active flip part and a passive flip part, respectively, the clamping part 522b of the active flip part is driven to rotate by its rotation drive part, and the clamping part 522b of the passive flip part follows the active flip part to flip by the force transmitted from the clamped workpiece loading unit 100. The lifting platform 523 is used to rise to a predetermined position to support the workpiece loading unit 100 and the spare workpiece loading unit 100' inverted on the workpiece loading unit 100 before the workpiece loading unit 100 moves thereto. The lifting platform 523 is also used to descend to a predetermined position to avoid the workpiece loading unit 100 and the spare workpiece loading unit 100' after the two flip parts 522 clamp the workpiece loading unit 100 and the spare workpiece loading unit 100'.

[0105] See also Fig.12 The automatic polishing method of the present invention utilizes the automatic polishing equipment described above to transfer, load, polish and unload the workpiece A, comprising the following steps:

[0106] S101, workpiece A transmission: the workpiece loading unit 100 loaded with workpiece A at the receiving position 210 of the transmission unit 200 is transmitted to the picking position 220. Fig.13 , this step includes the following sub-steps:

[0107] S1011, the control unit receives a signal from the detection unit 250 at the receiving position 210 to determine whether the transmission pallet is in place;

[0108] S1012, based on the signal that the pallet is in place, sending a lifting control instruction to the lifting unit at the receiving position 210, otherwise, keeping the lifting unit in a descending state;

[0109] S1013, the lifting unit at the receiving position 210 receives the lifting control instruction sent by the control unit, and lifts the transmission pallet upward;

[0110] S1014, the lifting unit at the receiving position 210 receives the descending control instruction sent by the control unit, and descends the transmission pallet to return it to the transmission belt assembly 240;

[0111] S1015, the control unit receives a signal from the detection unit 250 at the picking position 220 to determine whether the transport pallet is in place;

[0112] S1016, based on the signal that the pallet is in place, sending a lifting control instruction to the lifting unit at the picking position 220, otherwise, keeping the lifting unit in a descending state;

[0113] S1017, the lifting unit at the picking position 220 receives the lifting control instruction sent by the control unit, and lifts the transmission pallet upward;

[0114] S1018, the lifting unit at the picking position 220 receives the descending control instruction sent from the control unit, and descends the transmission pallet to return it to the transmission belt assembly 240. The driving mechanism of the transmission belt assembly 240 causes the transmission belt assembly 240 to bring the transmission pallet back to the receiving position 210 based on the reverse rotation instruction sent by the control unit.

[0115] S102, picking up and transferring workpiece A: When the workpiece loading unit 100 is transferred to the picking position 220, the workpiece loading unit 100 is picked up and transferred to the polishing unit 300. Fig.14 , this step includes the following sub-steps:

[0116] S1021, the control unit sends a first moving instruction and a first picking instruction, a second moving instruction and a second picking instruction, a third moving instruction, a flipping instruction and a third picking instruction, a fourth moving instruction and a fourth picking instruction to the picking unit 400 based on the transport pallet arrival signal sensed at the picking position 220;

[0117] S1022, the picking unit 400 moves to the picking position 220 based on the first moving instruction, and the first picking portion 410 adsorbs the surface of the workpiece loading unit 100 based on the first picking instruction;

[0118] S1023, the picking unit 400 further moves to the polishing part 310 of the polishing unit 300 based on the second moving instruction, and releases the workpiece loading unit 100 based on the second picking instruction (releasing instruction);

[0119] S1024, the picking unit 400 moves to the transfer area 510 based on the third moving instruction, flips the mounting frame 430 based on the flipping instruction so that the second picking portion 440 faces the direction of the counterweight block, moves the second picking portion 440 (pneumatic clamp) to the picked portion (second rod portion 333b) of the counterweight pressing block 330 based on the third picking instruction, and moves the movable clamp toward the fixed clamp to clamp the picked portion;

[0120] S1025 , the picking unit 400 further moves to the polishing part 310 based on the fourth moving instruction, and enables the second picking part 440 to release the counterweight block 330 based on the fourth picking instruction (release instruction).

[0121] S103 , polishing the workpiece A: the polishing part 310 of the polishing unit 300 grinds and polishes the to-be-polished area of ​​the workpiece A.

[0122] Among them, see Fig.15 , this step includes the following sub-steps:

[0123] S1031, after the pick-up unit 400 releases the counterweight pressing block 330, the control unit sends an output shaft extension instruction to the driving unit 322 of the positioning mechanism 320 and a work instruction to the polishing unit 310; after the polishing unit 310 finishes working (i.e., after the first surface A3011 to be polished is polished), the control unit sends an output shaft retraction instruction to the driving unit 322, and sends a fifth movement instruction and a fifth pick-up instruction, a sixth movement instruction and a sixth pick-up instruction, a seventh movement instruction, a flip instruction and a seventh pick-up instruction, an eighth movement instruction and an eighth pick-up instruction, a ninth movement instruction and a ninth pick-up instruction, and a tenth movement instruction and a tenth pick-up instruction to the pick-up unit 400;

[0124] S1032, the driving unit 322 of the positioning mechanism 320 extends the blocking portion 321 to one side of the limiting rod (limiting portion) based on the extending instruction;

[0125] S1033, the polishing unit 310 grinds and polishes the first to-be-polished surface A3011 of the workpiece A based on the work instruction;

[0126] SS1034, the driving unit 322 of the positioning mechanism 320 retracts the retaining portion 321 to the initial position based on the retraction instruction;

[0127] S1035, the picking unit 400 moves to the counterweight block 330 of the polishing part 310 based on the fifth moving instruction, picks up the counterweight block 330 based on the fifth picking instruction; moves the counterweight block 330 to the transfer area 510 based on the sixth moving instruction, and releases the counterweight block 330 to the transfer area 510 based on the sixth picking instruction (relaxing instruction);

[0128] S1036, the picking unit 400 moves to the workpiece loading unit 100 of the polishing section 310 based on the seventh moving instruction, flips the mounting frame 430 based on the flipping instruction so that the first picking unit 410 faces the workpiece loading unit 100, and makes the first picking unit 410 pick up the workpiece loading unit 100 based on the seventh picking instruction; moves the workpiece loading unit 100 to the flipping unit 520 based on the eighth moving instruction, and releases the workpiece loading unit 100 based on the eighth picking instruction (release instruction);

[0129] S1037, the picking unit 400 is further moved to the spare workpiece loading unit 100' of the transfer area 510 based on the ninth moving instruction, and picks up the spare workpiece loading unit 100' based on the ninth picking instruction; the spare workpiece loading unit is moved to above the workpiece loading unit 100 loaded with the workpiece A at the flip unit 520 based on the tenth moving instruction, and the spare workpiece loading unit 100' is released based on the tenth picking instruction (release instruction) so that the spare workpiece loading unit 100' is buckled on the workpiece loading unit 100;

[0130] S1038, the control unit sends a clamping instruction, a flipping instruction, a releasing instruction, an eleventh moving instruction and an eleventh picking instruction, a twelfth moving instruction and a twelfth picking instruction, a thirteenth moving instruction and a thirteenth picking instruction, a fourteenth moving instruction and a fourteenth picking instruction, and a fifteenth moving instruction and a fifteenth picking instruction to the flipping unit 520;

[0131] S1039, the flip unit 520 clamps the workpiece loading unit 100 and the spare workpiece loading unit 100' that are fastened together based on the clamping instruction; flips the workpiece loading unit 100 and the spare workpiece loading unit 100' that are fastened together 180 degrees based on the flip instruction, so that the positions and identities of the workpiece loading unit 100 and the spare workpiece loading unit 100' are exchanged, so that the workpiece loading unit 100 located above is used as the spare workpiece loading unit 100'; the flip unit 520 also loosens the spare workpiece loading unit 100' and the workpiece loading unit 100 loaded with the workpiece A that are fastened together and have their identities exchanged based on the loosening instruction;

[0132] S103a, the picking unit 400 also moves to the top of the spare workpiece loading unit 100' based on the eleventh moving instruction, picks up the spare workpiece loading unit 100' based on the eleventh picking instruction; moves the spare workpiece loading unit 100' to the transfer area 510 based on the twelfth moving instruction, releases the spare workpiece loading unit 100' based on the twelfth picking instruction (relaxing instruction), and the spare workpiece loading unit 100' is placed in the transfer area 510; moves to the workpiece loading unit 100 of the flipping unit 520 based on the thirteenth moving instruction, picks up the workpiece loading unit 100 at the flipping unit 520 based on the thirteenth picking instruction; moves the workpiece loading unit 100 to the polishing section 310 based on the fourteenth moving instruction, releases the workpiece loading unit 100 of the workpiece A based on the fourteenth picking instruction, and the second polishing surface A3021 of the workpiece A faces the polishing section 310;

[0133] S103b, the polishing unit 300 performs polishing preparation work on the second surface to be polished A3021 in the same manner (i.e., placing the counterweight block 330 at the workpiece loading unit 100 and positioning the counterweight block 330), grinding and polishing, and polishing the finishing workpiece A (cancelling the positioning of the counterweight block 330 and moving the counterweight block 330 to the transfer area 510).

[0134] S104, unloading the workpiece A, picking up the workpiece A polished by the polishing unit 300 and transferring it to the destination position. The picking unit 400 moves the workpiece loading unit 100 loaded with the workpiece A polished on both the front and back sides to the unloading position 620 based on the corresponding movement instruction and picking instruction sent by the control unit, manually takes out the workpiece carrier C in the workpiece loading unit 100, and then takes out the workpiece A from the workpiece carrier C.

[0135] In summary, the automatic polishing equipment and automatic polishing method of the present invention have the following beneficial effects: (i) Through the configured transmission mechanism, pickup unit 400, polishing unit 300 and control unit, the control unit is connected with each controlled unit signal, receives signals from each controlled unit, and schedules each controlled unit to work in conjunction, so as to realize the automated process of the workpiece from loading, transfer, polishing and unloading. (ii) Through the special workpiece carrier C, it is configured with a loading part C11 that is shaped like the workpiece inner cavity A10, and the inner surface of the workpiece is all fitted to the loading part C11, eliminating the problems of edge collapse and deformation caused by excessive grinding removal. (iii) The special workpiece carrier C is designed with a lock hole C12 based on the original hole position of the workpiece (through hole A20). By inserting the plug C20 in the lock hole C12 and the through hole A20 in the height direction, the horizontal limit of the workpiece can be achieved to prevent the workpiece from detaching from the loading part C11. (IV) The specially made workpiece carrier C is provided with a coaxial first positioning hole C14 and a second positioning hole C21 on the plug C20 and the carrier C10, respectively, and a locking block C30 is provided. A first positioning column C31 is provided on the locking block C30 and is transversely penetrated through the first positioning hole C14 and the second positioning hole C21, so as to prevent the plug C20 from withdrawing from the carrier C10 along the height direction. (V) The locking block C30 is magnetically attracted to the carrier C10 through a magnetic attraction member, so as to prevent the locking block C30 from being separated from the carrier C10 during operation, prevent the plug C20 from being separated from the carrier C10, and prevent the workpiece from being separated from the carrier C10. (vi) The workpiece loading unit 100 is provided with a plurality of loading slots 120, each of which can load two workpiece carriers C. The structure of each loading slot 120 is arranged corresponding to the workpiece carrier C, so that after the workpiece carrier C is loaded in the loading slot 120, the first surface to be polished A3011 or the second surface to be polished A3021 can be exposed to the outside of the workpiece loading unit 100 through the window portion 110 at the bottom of the slot, so that the corresponding surface to be polished can contact the polishing portion 310. (vii) The slot surface of the loading slot 120 does not need to be provided with a stopper, so that the operator can quickly place the workpiece carrier C in the loading slot 120. (VIII) After one of the surfaces to be polished is completed, the spare workpiece loading unit 100' is engaged with the workpiece loading unit 100 and flipped 180 degrees, so that the other surface to be polished faces the window portion 110 of the bottom surface of the groove, so that the other surface to be polished contacts the polishing portion 310 through the window portion 110, thereby achieving grinding and polishing of multiple surfaces to be polished. Compared with the traditional polishing method, it has a high degree of automation, can achieve simultaneous polishing of multiple workpieces at one time, prevents the collapse and deformation of the workpiece edge, and improves the yield rate.

[0136] The above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An automatic polishing device, characterized in that: include: A workpiece loading unit, which has at least one workpiece loading position for loading a workpiece, wherein the workpiece loading position has a window portion for exposing a region to be polished of the workpiece to the outside; A transmission unit, one end of which is configured with a receiving position for receiving the workpiece loading unit, and the other end of which is configured with a picking position for a picking unit to pick up the workpiece loading unit, and the transmission unit transports the workpiece loading unit at the receiving position to the picking position; A polishing unit having a polishing portion for grinding and polishing the area to be polished exposed at the window portion; a picking unit configured to pick up the workpiece loading unit at the picking position and transfer it to the polishing unit, and to pick up the workpiece loading unit at the polishing unit and transfer it to a destination position; as well as The control unit is configured to be electrically connected to the transmission unit, the polishing unit and the picking unit, and is used to receive and process data from each unit and schedule each unit to work, so as to realize the transmission, picking, polishing and unloading of the workpiece.

2. The automatic polishing device according to claim 1, characterized in that: The workpiece loading position is configured as a loading slot for loading at least one workpiece, and the window portion is formed on the bottom surface of the loading slot and passes through the workpiece loading unit; The area to be polished of the workpiece includes a first surface to be polished. When the workpiece is loaded into the workpiece loading slot, the first surface to be polished is exposed outside the workpiece loading unit through the window portion; when the workpiece loading unit is placed at the polishing unit, the window portion faces the polishing portion, and the first surface to be polished contacts the polishing portion through the window portion.

3. The automatic polishing device according to claim 2, characterized in that: The area to be polished of the workpiece further includes a second surface to be polished which is arranged opposite to the first surface to be polished; and the automatic polishing device further includes: A transfer area, in which a spare workpiece loading unit is placed, and the spare workpiece loading unit is used to be inverted on the top of the workpiece loading unit; A flipping unit, which is configured to flip the spare workpiece loading unit and the workpiece loading unit that are buckled together by 180 degrees, so that the spare workpiece loading unit and the workpiece loading unit are interchangeable, and the spare workpiece loading unit is flipped to the bottom of the workpiece loading unit, so that the workpiece in the workpiece loading unit is flipped by 180 degrees and then falls into the loading slot of the spare workpiece loading unit; at this time, the identities of the spare workpiece loading unit and the workpiece loading unit are interchanged, and the workpiece loading unit located above is regarded as the spare workpiece loading unit; The picking unit is also used to transfer the workpiece loading unit to the flip unit after the first surface to be polished of the workpiece is polished, transfer the spare workpiece loading unit in the transfer area and snap it onto the top of the workpiece loading unit, transfer the spare workpiece loading unit located on the top after flipping to the transfer area, and transfer the workpiece loading unit loaded with the workpiece located on the bottom after flipping to the polishing unit; The polishing unit is also used to polish the second surface to be polished that has not been polished.

4. The automatic polishing device according to claim 3, characterized in that: Also includes: A counterweight pressing block, which is configured to press the workpiece loading unit against the polishing portion and restrict it from rotating with the polishing portion when the workpiece loading unit is placed at the polishing portion of the polishing unit, and the counterweight pressing block is placed in the transfer area when idle; the counterweight pressing block includes: A pressing block body having a pressing surface for pressing the workpiece loading unit; a limiting convex portion, which is configured to be arranged at a position on the holding surface corresponding to the loading slot, and when the pressing block body is pressed on the workpiece loading unit, the limiting convex portion can extend into the loading slot from the notch of the loading slot, and cooperate with the side wall of the loading slot to prevent the workpiece loading unit from rotating with the polishing part; and The self-limiting portion is used to be positioned at the polishing portion under the limitation of the polishing unit to prevent the counterweight pressing block from rotating with the polishing portion.

5. The automatic polishing device according to claim 4, characterized in that: The self-limiting portion is configured as a limiting rod arranged on the pressing block body; and the polishing unit has a retaining portion capable of retaining at the limiting rod.

6. The automatic polishing device according to claim 1, characterized in that: The workpiece has an inner cavity, the inner cavity penetrates the workpiece along the length direction of the workpiece, the inner cavity also penetrates a side surface of the workpiece along the width direction of the workpiece so that the workpiece has a side opening, and the workpiece also has a through hole penetrating along its height direction; the automatic polishing device also includes a workpiece carrier, and the workpiece carrier includes: A carrier block having a loading portion, wherein the workpiece is sleeved on the loading portion through the side opening; a locking hole, which is configured to be coaxially arranged with the through hole and penetrate the loading portion along the height direction of the loading portion; A first positioning hole is configured to be disposed on a side of the carrier block away from the workpiece along a width direction of the loading portion and connected to the locking hole; a plug block, which is configured to penetrate the locking hole and the through hole along the height direction of the loading portion, the plug block having a second positioning hole arranged along the width direction of the loading portion, and when the plug block is placed in the locking hole, the first positioning hole and the second positioning hole are coaxially connected; and The locking block is configured to be movably arranged on a side of the carrier block away from the workpiece, and the locking block has a first positioning column that can be movably inserted into the first positioning hole and the second positioning hole.

7. The automatic polishing device according to claim 6, characterized in that: The workpiece carrier also includes: A first hole is distributed on the carrier block in a manner parallel to and spaced from the first positioning hole, the first hole penetrating a side surface of the carrier block toward the locking block along a width direction of the loading portion; and The column is arranged on the locking block in a matching manner with the first hole, and is used for being movably inserted into the first hole.

8. The automatic polishing device according to claim 6, characterized in that: The carrier block is configured to be made of a material that can be magnetically attracted, and the workpiece carrier further includes: a second hole, distributed on the carrier block in a manner parallel to and spaced apart from the first positioning hole, the second hole penetrating a side surface of the carrier block toward the locking block along a width direction of the loading portion; and The magnetic attraction portion is arranged on the locking block in a matching manner with the second hole, and is used for being movably inserted into the second hole and magnetically attracting the carrier block to prevent the locking block from being separated from the carrier block in a working state.

9. The automatic polishing device according to any one of claims 1 to 8, characterized in that: The transmission unit is provided with a transmission pallet, and the transmission pallet is configured to carry the workpiece loading unit; the receiving position and the picking position are both provided with: a detection unit configured to detect whether the transmission pallet is located at a corresponding receiving position or picking position; A lifting unit, which is configured to lift the transmission pallet upward to make it suspended on the transmission unit when the transmission pallet is located at the corresponding receiving position or picking position, and the lifting unit is further configured to descend based on a corresponding control instruction sent by the control unit to return the transmission pallet to the transmission unit; The transport unit is further configured to transport the transport pallet carrying the workpiece loading unit to a picking position, and to transport the empty transport pallet at the picking position to the receiving position.

10. An automatic polishing method, characterized in that: The following steps are involved: Workpiece transfer: transfer the workpiece loading unit loaded with workpieces at the receiving position of the transfer unit to the picking position; Workpiece picking and transfer: when the workpiece loading unit is transferred to the picking position, the workpiece loading unit is picked up and transferred to the polishing unit; Workpiece polishing: the polishing part of the polishing unit grinds and polishes the area to be polished of the workpiece; Workpiece unloading, pick up the workpiece polished by the polishing unit and transfer it to the destination.

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